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Highlander Tuning #690

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Highlander Tuning #690

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68a6f67
Highlander Tuning
daehahn Jun 7, 2019
f6896e7
Update kiV value
daehahn Jun 12, 2019
8d42ef1
Merge 0.6 branch
daehahn Jul 1, 2019
34ee877
Merge branch 'devel' of https://github.com/commaai/openpilot into clean
daehahn Jul 1, 2019
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6 changes: 3 additions & 3 deletions selfdrive/car/toyota/interface.py
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Expand Up @@ -145,10 +145,10 @@ def get_params(candidate, fingerprint, vin=""):
ret.safetyParam = 100
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444 # not optimized yet
tire_stiffness_factor = 0.7933 # from overtime live tuning result
ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.0075]] # from Phil Lee's PR
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Ki seems way too low (as is, it does nothing). I propose to use the same tuning as the Avalon here, [0.17], [0.03].

Kf at 0.00012 is fine.

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I will try with your suggested values and get back here. Thanks Riccardo!

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@daehahn daehahn Jun 11, 2019 •
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[0.17], [0.03] is better than [0.6], [0.05]. But still it has jerk movement (shaking left-right) with [0.17], [0.03] and [0.17], [0.025] under 35mph. I will try with [0.17], [0.02] today and report it again.

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@daehahn daehahn Jun 12, 2019 •
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@rbiasini, [0.17], [0.02] also has same jerk movement, but [0.17], [0.0015] was much better. So I updated with old stable parameters, which is [0.18], [0.015]. I used this parameters more than 4 months without any issues. Please review and merge this request.

ret.lateralTuning.pid.kf = 0.00012 # from overtime curve testing result

elif candidate == CAR.AVALON:
stop_and_go = False
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